CN116643482B - Carrier rocket side jet flow gesture redundant control method - Google Patents

Carrier rocket side jet flow gesture redundant control method Download PDF

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Publication number
CN116643482B
CN116643482B CN202310926897.XA CN202310926897A CN116643482B CN 116643482 B CN116643482 B CN 116643482B CN 202310926897 A CN202310926897 A CN 202310926897A CN 116643482 B CN116643482 B CN 116643482B
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channel
control
attitude
angle
gesture
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CN116643482A (en
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黄晓平
张修玮
岳小飞
王志军
杨凯铜
谢凤云
唐梦莹
何漫丽
左湛
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CASIC Rocket Technology Co
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CASIC Rocket Technology Co
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The application provides a carrier rocket side jet flow gesture redundant control method, which comprises the steps of calculating a difference value according to a program gesture angle and an actual gesture angle to obtain an angle deviation, calculating through a correction network to obtain a correction value, detecting channel faults according to the absolute value of the correction value and the magnitude relation of the sum of a preset switch threshold and a preset deviation value, determining the opening direction of a channel and controlling the starting of an engine according to the magnitude relation of the correction value and the preset switch threshold, so as to update the actual gesture angle of an rocket body, and enabling the rocket body to track the program gesture angle in real time. The application recognizes the failure position of the engine through fault detection, switches the gesture control mode and performs gesture redundant control, and the method has high reliability, is simple in redundancy control method, is easy to realize in engineering, has higher engineering application value, and can greatly improve the reliability of a gesture control system.

Description

Carrier rocket side jet flow gesture redundant control method
Technical Field
The application relates to the technical field of carrier rocket attitude control, in particular to a carrier rocket side jet flow attitude redundant control method.
Background
In the flying process of the carrier rocket, the main task of the attitude control system is to track the program angle instruction calculated by the guidance system, so that the rocket body track-in target is realized. The reliability of the attitude control system determines the probability of successful flight mission, and how to improve the reliability of the attitude control system is the most important subject. The side jet flow attitude control is one of the main current attitude control modes in China at present, and the side jet flow attitude control system generally comprises a group of liquid attitude control engines distributed along the axial direction or the radial direction of an arrow body, and thrust is generated at a spray pipe through the operation of the liquid attitude control engines, so that control force refusing around the mass center of the arrow body is formed, and the attitude control of a pitching channel, a yawing channel and a rolling channel is realized.
In the flying process of the rocket body, if the gesture has no redundant control strategy, once an engine abnormality occurs, the rocket body can cause the failure of a flying task due to the out-of-control gesture. Such failure problems occur in domestic carrier rocket flight tests.
At present, the research on the attitude redundancy control of the carrier rocket in China is very little, and no fault detection and attitude redundancy control method based on a side jet attitude control system exists. Common ways of liquid attitude control engine layout in the side jet attitude control system are a "rice" type layout and a "well" type layout. The well-shaped layout has a certain hardware redundancy effect. However, the gesture redundant control effect is limited, and the gesture redundant control system can only adapt to the condition that a single engine fails and cannot adapt to the condition that two engines fail simultaneously.
How to further improve the gesture redundant control effect of the 'well' -shaped layout is a technical problem to be solved.
Disclosure of Invention
The application aims to provide a carrier rocket side jet flow gesture redundant control method which is simple, is easy to realize in engineering, has higher engineering application value and can greatly improve the reliability of a gesture control system.
In order to achieve the above purpose, the present application provides a method for controlling the gesture redundancy of jet flow on the side of a carrier rocket, comprising:
step S1, according to the program attitude angle gamma cx Angle gamma with the actual attitude sj Calculating the difference to obtain an angular deviation，；
Step S2, angular deviationObtaining correction value by calculation through correction network>；
Step S3, if the absolute value of the correction value is within N continuous control periodsJudging that the channel in the current attitude control mode has abnormal working conditions of the engine spray pipe, and switching the current attitude control mode to another attitude control mode;
wherein N is a positive integer, h is a preset switch threshold,is a preset deviation value;
step S4, ifThe channel is opened in the forward direction, the corresponding engine is started, the thrust is generated at the corresponding spray pipe to form a control moment, and the arrow body is controlled to rotate around the mass center, so that the actual attitude angle gamma of the arrow body is updated sj The method comprises the steps of carrying out a first treatment on the surface of the If it isThe channel is closed; if->The channel is opened negatively, the corresponding engine is started, thrust is generated at the corresponding spray pipe to form control moment, and the arrow body is controlled to rotate around the mass center, so that the actual attitude angle gamma of the arrow body is updated sj ；
Step S5, repeating the steps S1 to S4, so that the arrow body tracks the program attitude angle gamma in real time cx 。
In some embodiments of the present application, based on the foregoing solution, in step S2, the formula of the correction network is:
wherein ,to correct the correction value output by the network, +.>For angular deviation, E 0 、E 1 、E 2 、E 3 、F 1 、F 2 、F 3 Are all correction network coefficients, z 0 、z -1 、z -2 、z -3 The current control period, the first 1 control period, the first 2 control periods, and the first 3 control periods are respectively indicated.
In some embodiments of the application, the program attitude angle γ is based on the foregoing scheme cx The actual attitude angle gamma is the binding value before rocket launching sj And the method is obtained by measuring and resolving in real time through inertial measurement and measurement combination.
In some embodiments of the present application, based on the foregoing solution, in step S3, the current attitude control mode is pitch channel independent control, yaw channel and roll channel time-sharing multiplexing, and the other attitude control mode is yaw channel independent control, pitch channel and roll channel time-sharing multiplexing.
In some embodiments of the present application, based on the foregoing, in the step S3, N.gtoreq.5, 0.5.ltoreq.h.ltoreq.0.8,。
in some embodiments of the application, based on the foregoing, the engine is a liquid-state, gesture-controlled engine.
In some embodiments of the present application, based on the foregoing solution, the engines adopt a "well" layout, where the "well" layout includes eight engines, each two engines are in a group and are respectively located at four quadrant points, the four quadrant points are respectively marked as quadrant points I, II, III and IV, the two engines at the quadrant point I are respectively marked as T1 and T2, the two engines at the quadrant point II are respectively marked as T3 and T4, the two engines at the quadrant point III are respectively marked as T5 and T6, and the two engines at the quadrant point IV are respectively marked as T7, T8, T1, T2, T3, T4, T5, T6, T7 and T8, which are sequentially and clockwise set.
In some embodiments of the application, based on the foregoing, the pitch channel independent control, the yaw channel and the roll channel time division multiplexing comprises: t1 and T2 or T5 and T6 simultaneously open a pitch control channel, T3 and T4 or T7 and T8 simultaneously open a yaw control channel, and T3 and T7 or T4 and T8 simultaneously open a roll control channel;
the yaw channel is independently controlled, and the time-sharing multiplexing of the pitch channel and the roll channel comprises the following steps: t1 and T2 or T5 and T6 simultaneously open the control pitch channel, T3 and T4 or T7 and T8 simultaneously open the control yaw channel, and T1 and T5 or T2 and T6 simultaneously open the control roll channel.
In some embodiments of the application, based on the foregoing, the method is for scrolling channel gesture redundant control, the program gesture angle γ cx For the programmed roll angle, the actual attitude angle gamma sj For the actual roll angle, the angular deviationThe channel is a rolling channel, which is a rolling angle deviation.
In some embodiments of the present application, based on the foregoing, in the current attitude control mode, in the step S4, ifThe corresponding engines are T4 and T8, if +.>The corresponding engines are T3 and T7;
in the other posture control mode, in the step S4, ifThe corresponding engines are T2 and T6, if +.>The corresponding engines are T1 and T5.
The technical scheme of the application provides a carrier rocket side jet flow gesture redundant control method, which is characterized in that the failure position of an engine is identified through fault detection, gesture control modes are switched and gesture redundant control is carried out, the reliability is high, the redundant control method is simple, the implementation on engineering is easy, the engineering application value is high, and the reliability of a gesture control system can be greatly improved. The redundant effect of attitude control of the 'well' -shaped layout can be further improved, and the problem that two engines are simultaneously invalid in the 'well' -shaped layout can be solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
FIG. 1 is a schematic diagram of a side jet attitude control;
FIG. 2 is a schematic illustration of a "well" layout of a liquid-controlled engine in a side-jet attitude control system;
FIG. 3 is a flow chart of a method for controlling the gesture redundancy of jet flow on the side of a carrier rocket according to the application;
FIG. 4 is a block flow diagram of a method for controlling gesture redundancy of a jet flow on a side of a carrier rocket for controlling gesture redundancy of a rolling channel.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
As shown in fig. 1, the principle of side jet attitude control is: the method comprises the steps of presetting a program attitude angle (comprising a program pitch angle, a program yaw angle and a program roll angle), and obtaining an actual attitude angle (comprising an actual pitch angle, an actual yaw angle and an actual roll angle) through quaternion calculation by using an angle increment of sensitive motion of an inertial measurement combination (a combination of an inertial accelerometer and a gyroscope) around three axes of an arrow body. And calculating the angular deviation according to the program attitude angle and the actual attitude angle. After the angular deviation passes through a filter (the rolling channel has very small elasticity and generally does not pass through the filter) and a correction network, the angular deviation is compared with a switch threshold (set according to the control precision required by a guidance system), a start-up or shut-down instruction is sent, the instruction enters a liquid attitude control power system, a liquid attitude control engine works, thrust is generated at a spray pipe, a required control moment is formed, and the attitude angle of an arrow body is controlled. The deviation control of the side jet flow attitude angle belongs to an industry well-known technology, and is not described in detail below.
Fig. 2 is a schematic diagram of a "well" layout of liquid gesture control engines in a side jet gesture control system, where in order to consider control performance and engine cost, the "well" layout generally includes eight engines, each two of which is a group and is located at four quadrants, in fig. 2, the four quadrants are respectively marked as quadrants I, quadrants II, quadrants III, and quadrants IV, two engines at quadrants I are respectively marked as T1 and T2, two engines at quadrants II are respectively marked as T3 and T4, two engines at quadrants III are respectively marked as T5 and T6, and two engines at quadrants IV are respectively marked as T7, T8, T1, T2, T3, T4, T5, T6, T7, and T8 are sequentially set clockwise. For this "well" style layout, there are two modes of attitude control:
1. the pitch channel is independently controlled and the yaw channel and the roll channel are time-division multiplexed. T1 and T2 (or T5 and T6) simultaneously open control pitch channel, T3 and T4 (or T7 and T8) simultaneously open control yaw channel, T3 and T7 (or T4 and T8) simultaneously open control roll channel, and this attitude control mode is denoted as mode M1.
2. The yaw channel is independently controlled, and the pitch channel and the roll channel are multiplexed in a time-sharing manner. T1 and T2 (or T5 and T6) simultaneously open control pitch channel, T3 and T4 (or T7 and T8) simultaneously open control yaw channel, T1 and T5 (or T2 and T6) simultaneously open control roll channel, and this attitude control mode is denoted as mode M2.
In the flying process of the arrow body, the requirements on the size and the priority of the attitude control capability are as follows: pitch channel > yaw channel > roll channel. Because the pitching channel has the adaptability requirements of vertical turning, large-angle attitude adjustment and pneumatic characteristics under low-speed large attack angle, the yawing channel has the adaptability requirements of small-angle attitude adjustment, compared with the yaw channel, the rolling channel has smaller interference, the required control capability is smaller, and the control priority is lower. Taking the control sequence requirements of three channels of pitching, yawing and rolling into consideration, a mode M1 is adopted under the default condition, and a mode M2 is entered when abnormality occurs.
The application mainly considers the following two modes of engine failure:
1. a single engine fails. If a single engine failure occurs in the pitch channel, such as a T1 (or T5) failure, T2 (or T6) may continue to operate, continuing to maintain the pitch channel attitude stable. If a single engine failure occurs in the yaw path, such as a T3 (or T4) failure, T7 (or T8) may continue to operate, continuing to maintain yaw path attitude stability. If a single engine failure occurs in the rolling channel, for example, T3 (or T4) failure, T7 (or T8) can continue to work, and the stable posture of the rolling channel can be maintained. Although additional control disturbances may be introduced after a single engine failure (e.g., rolling disturbance torque may be introduced due to asymmetric thrust generation after a single engine failure in a pitch (yaw) path), the remaining engines may still maintain rolling path stability. Therefore, even though the control capacity of the corresponding channel is reduced due to the failure of a single engine, the arrow body can still be kept stable, the flying task is completed, and the 'well' -shaped layout has a certain hardware redundancy effect.
2. Both engines fail at the same time. If two engine failures occur in the yaw path, such as a simultaneous failure of T3 and T7, or a simultaneous failure of T4 and T8, the remaining two engines may continue to complete yaw path attitude control. However, since the yaw path and the roll path are multiplexed, the roll path cannot complete attitude control, which is manifested as an increase in roll angle deviation until divergence. If an increase in roll angle deviation is detected by inertial measurement unit at this time, the attitude control mode can be switched from mode M1 to mode M2, changing into pitch channel and roll channel multiplexing, i.e., T1 and T5 and T2 and T6, to complete roll channel attitude control.
Because the gesture redundant control of the pitching channel and the yawing channel is realized through hardware redundancy, and the pitching channel and the yawing channel adopt common angular deviation control, the method belongs to an industry mature technology and is not repeated here. Aiming at the problem that two engines in the 'well' -shaped layout are simultaneously invalid, the application provides a carrier rocket side jet flow gesture redundant control method which can be used for rolling channel gesture redundant control. As shown in fig. 3, the carrier rocket side jet gesture redundant control method includes steps S1 to S5.
Step S1, according to the program attitude angle gamma cx Angle gamma with the actual attitude sj Calculating the difference to obtain an angular deviation，；
Wherein the program attitude angle gamma cx The binding value before rocket launching is a known quantity. Actual attitude angle gamma sj And the method is obtained by measuring and resolving in real time through inertial measurement and measurement combination.
Step S2, angular deviationThrough a correction networkCalculating to obtain correction value->；
Step S3, if the absolute value of the correction value is within N continuous control periodsJudging that the channel in the current attitude control mode has abnormal working conditions of the engine spray pipe, and switching the current attitude control mode to another attitude control mode;
wherein N is a positive integer, and in order to prevent erroneous judgment, N is preferably not less than 5; h is a preset switch threshold, and is determined according to the control precision required by the guidance system (the higher the control precision is, the smaller h is),the preset deviation value is determined according to actual conditions.
Step S4, ifThe channel is opened in the forward direction, the corresponding engine is started, the thrust is generated at the corresponding spray pipe to form a control moment, and the arrow body is controlled to rotate around the mass center, so that the actual attitude angle gamma of the arrow body is updated sj The method comprises the steps of carrying out a first treatment on the surface of the If it isThe channel is closed; if->The channel is opened negatively, the corresponding engine is started, thrust is generated at the corresponding spray pipe to form control moment, and the arrow body is controlled to rotate around the mass center, so that the actual attitude angle gamma of the arrow body is updated sj ；
Step S5, repeating the steps S1 to S4, so that the arrow body tracks the program attitude angle gamma in real time cx 。
In some embodiments of the application, the correction network is formulated as:
wherein ,to correct the correction value output by the network, units: degree (°); />As angular deviation, unit: degree (°); e (E) 0 、E 1 、E 2 、E 3 、F 1 、F 2 、F 3 Are correction network coefficients; z 0 、z -1 、z -2 、z -3 The current control period, the first 1 control period, the first 2 control periods, and the first 3 control periods are respectively indicated.
In some embodiments of the present application, in the step S3, the current attitude control mode is pitch channel independent control, yaw channel and roll channel are time-division multiplexed, and the other attitude control mode is yaw channel independent control, pitch channel and roll channel are time-division multiplexed. Taking the above-mentioned "well" type layout as an example, the current attitude control mode is normally denoted as mode M1, and the other attitude control mode is switched after detecting that the engine nozzle is abnormal in operation in the passage, denoted as mode M2.
In some embodiments of the application, in the step S3, N is equal to or greater than 5,0.5 DEG.ltoreq.h is equal to or greater than 0.8 DEG,. In general, the arrow body flying active section takes h=0.5°, and->。
The method for controlling the gesture redundancy of the side jet of the carrier rocket is used for controlling the gesture redundancy of the rolling channel, and in the method, the program gesture angle gamma is as follows cx For the program roll angle, the actual attitude angle γ sj For actual roll angle, angle deviationFor roll angle deviation, the channel is a roll channel, as shown in fig. 4, the method steps are as follows:
s10, calculating the rolling angle deviation. According to the programmed roll angle gamma cx From the actual roll angle gamma sj Calculating the difference to obtain the rolling angle deviation，/>；
S20, correcting network calculation. Deviation of rolling angleObtaining correction value by calculation through correction network>；
S30, detecting whether the rolling channel is faulty. Normally, the posture control mode is mode M1, and if the control period is 5 continuous control periods, the absolute value of the correction valueJudging that the engine spray pipe work abnormal condition exists in the rolling channel in the mode M1, and switching the attitude control mode from the mode M1 to the mode M2; let h=0.5°, ->；
S40, comparing switch threshold. Will roll the angular deviationComparing with a preset switch threshold h, controlling whether the engine is started or not according to the magnitude relation of the switch threshold h and the preset switch threshold h, and marking a control instruction as R x The engine opening direction judgment conditions are as follows:
；
；
；
s50, controlling instruction distribution. The scroll channel control instruction is allocated as:
m1 mode:
R x =1, the scrolling channel is opened in the forward direction;
R x =0, rolling channel closed;
R x = -1, the scrolling channel is opened negatively;
the scroll channel control instruction assignments are shown in table 1.
Table 1, correspondence between rolling channel control command and engine in M1 mode
M2 mode:
R x =1, the scrolling channel is opened in the forward direction;
R x =0, rolling channel closed;
R x = -1, the scrolling channel is opened negatively;
the scroll channel control instruction assignments are shown in table 2.
Table 2, correspondence between rolling channel control command and engine in M2 mode
S60, the engine works, and the actual rolling angle is updated. According to the control instruction R x The engine executes corresponding work, the engine is started, thrust is generated at the corresponding spray pipe to form control moment, the arrow body is controlled to rotate around the mass center, and the actual rolling angle gamma of the arrow body is updated sj 。
S70, program rolling angle tracking. The above steps S10 to S60 are repeated, thereby enabling the arrow body to track the program roll angle in real time.
According to the method, angular deviation is obtained by calculating a difference value according to a program attitude angle and an actual attitude angle, a correction value is obtained by calculating through a correction network, channel faults are detected according to the magnitude relation between the absolute value of the correction value and the sum of a preset switch threshold and a preset deviation value, the starting direction of a channel is determined and the starting of an engine is controlled according to the magnitude relation between the correction value and the preset switch threshold, so that the actual attitude angle of an rocket body is updated, and the rocket body is enabled to track the program attitude angle in real time. The application recognizes the failure position of the engine through fault detection, switches the gesture control mode and performs gesture redundant control, and the method has high reliability, is simple in redundancy control method, is easy to realize in engineering, has higher engineering application value, and can greatly improve the reliability of a gesture control system. The redundant effect of attitude control of the 'well' -shaped layout can be further improved, and the problem that two engines are simultaneously invalid in the 'well' -shaped layout can be solved.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (9)

1. The carrier rocket side jet flow gesture redundant control method is characterized by comprising the following steps of:
step S1, according to the program attitude angleAngle +.>Calculating the difference to obtain the angular deviation->，/>；
Step S2, angular deviationObtaining correction value by calculation through correction network>；
Step S3, if the absolute value of the correction value is within N continuous control periodsJudging that the channel in the current attitude control mode has abnormal working conditions of the engine spray pipe, and switching the current attitude control mode to another attitude control mode;
wherein N is a positive integer, h is a preset switch threshold,is a preset deviation value;
step S4, ifThe channel is opened in the forward direction, the corresponding engine is started, the thrust is generated at the corresponding spray pipe to form a control moment, and the arrow body is controlled to rotate around the mass center, so that the actual attitude angle of the arrow body is updated>The method comprises the steps of carrying out a first treatment on the surface of the If->The channel is closed; if->The channel is opened in the negative direction, the corresponding engine is started, thrust is generated at the corresponding spray pipe to form a control moment, and the arrow body is controlled to rotate around the mass center, so that the actual attitude angle of the arrow body is updated>；
Step S5, repeating the steps S1 to S4, so that the arrow body tracks the program attitude angle in real time；
In the step S2, the formula of the correction network is:
，
wherein ,to correct the correction value output by the network, +.>For angular deviation, E 0 、E 1 、E 2 、E 3 、F 1 、F 2 、F 3 Are all correction network coefficients, z 0 、z -1 、z -2 、z -3 The current control period, the first 1 control period, the first 2 control periods, and the first 3 control periods are respectively indicated.
2. A method of redundant control of a side jet attitude of a launch vehicle according to claim 1 wherein said program attitude angleFor rocket pre-launch binding value, the actual attitude angle +.>And the method is obtained by measuring and resolving in real time through inertial measurement and measurement combination.
3. A method for controlling the gesture redundancy of side jet of a carrier rocket according to claim 1, wherein in the step S3, the current gesture control mode is pitch channel independent control, yaw channel and roll channel are time-division multiplexed, and the other gesture control mode is yaw channel independent control, pitch channel and roll channel are time-division multiplexed.
4. A method of controlling the attitude redundancy of a side jet stream of a carrier rocket according to claim 3, wherein in the step S3, N is not less than 5,0.5 DEG is not less than 0.8 DEG, 1 DEG is not less than 0.5 DEG≤1.5°。
5. A method of redundant control of a side jet attitude of a launch vehicle according to claim 3 wherein the engine is a liquid attitude control engine.
6. The method for redundant control of jet gesture on side of carrier rocket according to claim 5, wherein the engines adopt a "well" type layout, the "well" type layout comprises eight engines, each two engines are in a group and are respectively located at four quadrant points, the four quadrant points are respectively marked as quadrant points I, quadrant points II, quadrant points III and quadrant points IV, two engines at the quadrant points I are respectively marked as T1 and T2, two engines at the quadrant points II are respectively marked as T3 and T4, two engines at the quadrant points III are respectively marked as T5 and T6, and two engines at the quadrant points IV are respectively marked as T7, T8, T1, T2, T3, T4, T5, T6, T7 and T8 are sequentially and clockwise arranged.
7. A method of controlling the attitude redundancy of a side jet of a launch vehicle according to claim 6, wherein said pitch channel independent control, yaw channel and roll channel time division multiplexing comprises: t1 and T2 or T5 and T6 simultaneously open a pitch control channel, T3 and T4 or T7 and T8 simultaneously open a yaw control channel, and T3 and T7 or T4 and T8 simultaneously open a roll control channel;
the yaw channel is independently controlled, and the time-sharing multiplexing of the pitch channel and the roll channel comprises the following steps: t1 and T2 or T5 and T6 simultaneously open the control pitch channel, T3 and T4 or T7 and T8 simultaneously open the control yaw channel, and T1 and T5 or T2 and T6 simultaneously open the control roll channel.
8. A method for controlling the redundancy of the attitude of a side jet of a carrier rocket according to claim 7, wherein the method is used for controlling the redundancy of the attitude of a rolling channel, and the program attitude angleFor the program scroll angle, the actual attitude angle +.>For the actual roll angle, the angle deviation +.>The channel is a rolling channel, which is a rolling angle deviation.
9. A method of controlling the attitude redundancy of a side jet of a launch vehicle according to claim 8, wherein in said current attitude control mode, in said step S4, ifThe corresponding engines are T4 and T8, if +.>The corresponding engines are T3 and T7;
in the other posture control mode, in the step S4, ifThe corresponding engine is T2And T6 if->The corresponding engines are T1 and T5.
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